Design of Underactuated Surface Vessel Trajectory Tracking Control System Based on ADRC

This paper addresses the problem of steering Underactuated Surface Vessels (USVs) along given paths. Due to dynamical uncertainty and ocean disturbances induced by unknown wind, waves and ocean currents, there exist some imperfections in dealing with this non-linear systems with traditional control algorithms. A novel trajectory following controller based on Active Disturbance Rejection Control (ADRC) technique is proposed in the work. A desired heading angle is designed to ensure the USV will arrive at the trajectory. And the controller can treat all the dynamical uncertainty and ocean disturbances as external disturbances. The results of simulation are presented to show that the controller has better dynamic performance and the accurate straight line and curve trajectory tracking for USV is realized.